diff --git a/scripts/libraries/rpc.py b/scripts/libraries/rpc.py index 7bf387289..67fde9977 100644 --- a/scripts/libraries/rpc.py +++ b/scripts/libraries/rpc.py @@ -282,21 +282,11 @@ class rpc_slave(rpc): self.__schedule_cb = None if self.__loop_cb is not None: self.__loop_cb() -def __get_can_settings(bit_rate, sample_point): - clk = 48000000 if omv.board_type() == "H7" else pyb.freq()[2] - for prescaler in range(8): - for bs1 in range(16): - for bs2 in range(8): - if bit_rate == ((clk >> prescaler) // (1 + bs1 + bs2)) and (sample_point * 10) == (((1 + bs1) * 1000) // (1 + bs1 + bs2)): - return (1 << prescaler, bs1, bs2) - raise ValueError("Invalid bit_rate and/or sample_point!") - class rpc_can_master(rpc_master): def __init__(self, message_id=0x7FF, bit_rate=250000, sample_point=75, can_bus=2): self.__message_id = message_id - can_prescaler, can_bs1, can_bs2 = __get_can_settings(bit_rate, sample_point) - self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, prescaler=can_prescaler, bs1=can_bs1, bs2=can_bs2, auto_restart=True) + self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, baudrate=bit_rate, sample_point=sample_point, auto_restart=True) self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id]) rpc_master.__init__(self) @@ -330,8 +320,7 @@ class rpc_can_slave(rpc_slave): def __init__(self, message_id=0x7FF, bit_rate=250000, sample_point=75, can_bus=2): self.__message_id = message_id - can_prescaler, can_bs1, can_bs2 = __get_can_settings(bit_rate, sample_point) - self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, prescaler=can_prescaler, bs1=can_bs1, bs2=can_bs2, auto_restart=True) + self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, baudrate=bit_rate, sample_point=sample_point, auto_restart=True) self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id]) rpc_slave.__init__(self)